SoroushVahidi/scidocs huggingface dataset:
Millibot Trains for Enhanced Mobility
(2001)

The objective of this work is to enhance the mobility of small mobile robots by enabling them to link into a train configuration capable of crossing relatively large obstacles. In particular, we are building on Millibots, semiautonomous, tracked mobile sensing/communication platforms at the 5-cm scale previously developed at Carnegie Mellon University. TheMillibot Train concept provides couplers that allow the Millibot modules to engage/disengage under computer control and joint actuators that allow lifting of one module by another and control of the whole train shape in two dimensions. A manually configurable train prototype demonstrated the ability to climb standard stairs and vertical steps nearly half the train length. A fully functional module with powered joints has been developed and several have been built and tested. Construction of a set of six modules is well underway and will allow testing of the complete train in the near future. This paper focuses on the development, design, and construction of the electromechanical hardware for the Millibot Train.
Bach 10 Dataset---- A Versatile Polyphonic Music Dataset
(2012)

This is a polyphonic music dataset which can be used for versatile research problems, such as Multi-pitch Estimation and Tracking, Audio-score Alignment, Source Separation, etc. This dataset consists of the audio recordings of each part and the ensemble of ten pieces of four-part J.S. Bach chorales, as well as their MIDI scores, the ground-truth alignment between the audio and the score, the ground-truth pitch values of each part and the ground-truth notes of each piece. The audio recordings of the four parts (Soprano, Alto, Tenor and Bass) of each piece are performed by violin, clarinet, saxophone and bassoon, respectively.
Variational Sequential Monte Carlo
(2018)

Many recent advances in large scale probabilistic inference rely on variational methods. The success of variational approaches depends on (i) formulating a flexible parametric family of distributions, and (ii) optimizing the parameters to find the member of this family that most closely approximates the exact posterior. In this paper we present a new approximating family of distributions, the variational sequential Monte Carlo (VSMC) family, and show how to optimize it in variational inference. VSMC melds variational inference (VI) and sequential Monte Carlo (SMC), providing practitioners with flexible, accurate, and powerful Bayesian inference. The VSMC family is a variational family that can approximate the posterior arbitrarily well, while still allowing for efficient optimization of its parameters. We demonstrate its utility on state space models, stochastic volatility models for financial data, and deep Markov models of brain neural circuits.
LoRa-based localization systems for noisy outdoor environment
(2017)

LoRa-based (Long Range Communication based) localization systems make use of RSSI (Received Signal Strength Indicator) to locate an object properly in an outdoor environment for IoT (Internet of Things) applications in smart environment and urban networking. The accuracy of localization is highly degraded, however, by noisy environments (e.g., electronic interference, blocking). To address this issue, this paper proposes two new localization algorithms to improve localization accuracy. Furthermore, the paper develops a winner selection strategy to select a winner from the traditional localization algorithm and the two new algorithms to minimize localization errors. Our simulations and real experiments found that the two new algorithms can significantly improve localization accuracy. Additionally, the winner selection strategy effectively selects a winner from the three algorithms to improve localization accuracy further. Using our proposed algorithms in some real experiments, the localization error is only a few meters in a real measurement field longer than 100 m.
Document-level Sentiment Inference with Social, Faction, and Discourse Context
(2016)

We present a new approach for documentlevel sentiment inference, where the goal is to predict directed opinions (who feels positively or negatively towards whom) for all entities mentioned in a text. To encourage more complete and consistent predictions, we introduce an ILP that jointly models (1) sentenceand discourse-level sentiment cues, (2) factual evidence about entity factions, and (3) global constraints based on social science theories such as homophily, social balance, and reciprocity. Together, these cues allow for rich inference across groups of entities, including for example that CEOs and the companies they lead are likely to have similar sentiment towards others. We evaluate performance on new, densely labeled data that provides supervision for all pairs, complementing previous work that only labeled pairs mentioned in the same sentence. Experiments demonstrate that the global model outperforms sentence-level baselines, by providing more coherent predictions across sets of related entities.
Frequency-based anomaly detection for the automotive CAN bus
(2015)

The modern automobile is controlled by networked computers. The security of these networks was historically of little concern, but researchers have in recent years demonstrated their many vulnerabilities to attack. As part of a defence against these attacks, we evaluate an anomaly detector for the automotive controller area network (CAN) bus. The majority of attacks are based on inserting extra packets onto the network. But most normal packets arrive at a strict frequency. This motivates an anomaly detector that compares current and historical packet timing. We present an algorithm that measures inter-packet timing over a sliding window. The average times are compared to historical averages to yield an anomaly signal. We evaluate this approach over a range of insertion frequencies and demonstrate the limits of its effectiveness. We also show how a similar measure of the data contents of packets is not effective for identifying anomalies. Finally we show how a one-class support vector machine can use the same information to detect anomalies with high confidence.
Graph2Seq: Scalable Learning Dynamics for Graphs
(2018)

Neural networks have been shown to be an effective tool for learning algorithms over graph-structured data. However, graph representation techniques—that convert graphs to real-valued vectors for use with neural networks—are still in their infancy. Recent works have proposed several approaches (e.g., graph convolutional networks), but these methods have difficulty scaling and generalizing to graphs with different sizes and shapes. We present GRAPH2SEQ, a new technique that represents vertices of graphs as infinite time-series. By not limiting the representation to a fixed dimension, GRAPH2SEQ scales naturally to graphs of arbitrary sizes and shapes. GRAPH2SEQ is also reversible, allowing full recovery of the graph structure from the sequences. By analyzing a formal computational model for graph representation, we show that an unbounded sequence is necessary for scalability. Our experimental results with GRAPH2SEQ show strong generalization and new state-of-the-art performance on a variety of graph combinatorial optimization problems.
Image Super-Resolution Using Very Deep Residual Channel Attention Networks
(2018)

Convolutional neural network (CNN) depth is of crucial importance for image super-resolution (SR). However, we observe that deeper networks for image SR are more difficult to train. The lowresolution inputs and features contain abundant low-frequency information, which is treated equally across channels, hence hindering the representational ability of CNNs. To solve these problems, we propose the very deep residual channel attention networks (RCAN). Specifically, we propose a residual in residual (RIR) structure to form very deep network, which consists of several residual groups with long skip connections. Each residual group contains some residual blocks with short skip connections. Meanwhile, RIR allows abundant low-frequency information to be bypassed through multiple skip connections, making the main network focus on learning high-frequency information. Furthermore, we propose a channel attention mechanism to adaptively rescale channel-wise features by considering interdependencies among channels. Extensive experiments show that our RCAN achieves better accuracy and visual improvements against state-of-the-art methods.
Riderless bicycle with gyroscopic balancer controlled by FSMC and AFSMC
(2015)

A Riderless bicycle has been developed with a gyroscopic balancer controller by a Fuzzy Sliding Mode Controller (FSMC) and an Adaptive Fuzzy Sliding Mode Controller (AFSMC). The FSMC controller was first implemented because it has better performance on controlling nonlinear systems than the one with PID control. The FSMC can also reduce the chattering phenomenon caused by SMC and the effect of linearizing a nonlinear system. Compared with other balancers, the gyroscopic balancer has a couple of advantages, such as faster system response, lower mass ratio of balancer to bicycle and relatively larger moment. To demonstrate the attributes stated above, we designed and conducted experiments, including the balancing of unmoving bicycle, unmoving bicycle with external impacts, as well as the bicycle moving forward and turning. The experimental results show that the bicycle can overcome jolts, uneven terrain and external disturbances. Furthermore, since the results of experiments are consistent with the ones of the simulation, it validates the derived bicycle dynamics model with the gyroscopic balancer and proves its robustness. However, the system's ability to resist continuous disturbance is not strong enough because of the limitation on the tilt angle of the gyroscopic balancer. Hence, we modified the control strategy by using AFSMC despite the fact that the FSMC performed better than PID control. From the simulations in Section IV, it shows that the AFSMC has better performance at resisting continuous disturbances than FSMC does. Furthermore, the abilities to balance the unmoving bicycle or moving bicycle are no less than FSMC. Thus, the AFSMC is employed to replace the FSMC. The designs of adaptive law and estimation law of AFSMC are based on the Lyapunov function to ensure the stability of the system. Experiments of the bicycle controlled by AFSMC are currently being conducted.
Can visual fixation patterns improve image fidelity assessment?
(2008)

This paper presents the results of a computational experiment designed to investigate the extent to which metrics of image fidelity can be improved through knowledge of where humans tend to fixate in images. Five common metrics of image fidelity were augmented using two sets of fixation data, one set obtained under task-free viewing conditions and another set obtained when viewers were asked to judge image quality. The augmented metrics were then compared to subjective ratings of the images. The results show that most metrics can be improved using eye fixation data, but a greater improvement was found using fixations obtained in the task-free condition (task-free viewing).
Semantic Match Consistency for Long-Term Visual Localization
(2018)

Robust and accurate visual localization across large appearance variations due to changes in time of day, seasons, or changes of the environment is a challenging problem which is of importance to application areas such as navigation of autonomous robots. Traditional featurebased methods often struggle in these conditions due to the significant number of erroneous matches between the image and the 3D model. In this paper, we present a method for scoring the individual correspondences by exploiting semantic information about the query image and the scene. In this way, erroneous correspondences tend to get a low semantic consistency score, whereas correct correspondences tend to get a high score. By incorporating this information in a standard localization pipeline, we show that the localization performance can be significantly improved compared to the state-of-the-art, as evaluated on two challenging long-term localization benchmarks.
Stabilization and Path Following of a Spherical Robot
(2008)

In this paper, we present a spherical mobile robot BYQ_III, for planetary surface exploration and security tasks. The driving torque for the rolling robot is generated by a new type of mechanism equipped with a counter-pendulum. This robot is nonholonomic in nature, and underactuated. In this paper, the three-dimensional (3-D) nonlinear dynamic model is developed, then decoupled to the longitudinal and lateral motions by linearization. Two sliding-mode controllers are proposed to asymptotically stabilize the tracking errors in lean angle and spinning angular velocity, respectively, and indirectly to stabilize the desired path curvature, because the robot steers only by leaning itself to a predefined angle. For the task of path following, a path curvature controller, based on a geometrical notion, is employed. The stability and performance analyses are performed, and also the effectiveness of the controllers is shown by numerical simulations. To the best of author's knowledge, similar results could not be obtained in the previous spherical robot control system based on the dynamics. The work is of significance in understanding and developing this type of planning and controlling motions of nonholonomic systems.
Dynamics simulation toolbox for industrial robot manipulators
(2009)

A new robot toolbox for dynamics simulation based on MATLAB Graphical User Interface (GUI) is developed for educational purposes. It is built on the previous version named as ROBOLAB performing only the kinematics analysis of robot manipulators. The toolbox presented in this paper provides interactive real-time simulation and visualization of the industrial robot manipulator’s dynamics based on Langrange Euler and Newton Euler formulations. Since most of the industrial robot manipulators are produced with six degrees of freedom (DOF) such as the PUMA 560, the Fanuc ArcMate 120iB and Stanford Arm, the library of the toolbox includes sixteen fundamental 6-DOF robot manipulators with Euler wrist. The software can be used to interactively perform robotics analysis and off-line programming of robot dynamics such as forward and inverse dynamics as well as to interactively teach and simulate the basic principles of robot dynamics in a very realistic way. In order to demonstrate the user-friendly features of the toolbox much better, simulation of the NS robot manipulator (Stanford Arm) is provided as an example. 2009 Wiley Periodicals, Inc. Comput Appl Eng Educ 18: 319 330, 2010; Published online in Wiley InterScience (www.interscience.wiley.com); DOI 10.1002/cae.20262
Energy-Efficient Data Collection in UAV Enabled Wireless Sensor Network
(2018)

In wireless sensor networks, utilizing the unmanned aerial vehicle (UAV) as a mobile data collector for the sensor nodes (SNs) is an energy-efficient technique to prolong the network lifetime. In this letter, considering a general fading channel model for the SN-UAV links, we jointly optimize the SNs’ wake-up schedule and UAV’s trajectory to minimize the maximum energy consumption of all SNs, while ensuring that the required amount of data is collected reliably from each SN. We formulate our design as a mixed-integer non-convex optimization problem. By applying the successive convex optimization technique, an efficient iterative algorithm is proposed to find a sub-optimal solution. Numerical results show that the proposed scheme achieves significant network energy saving as compared to benchmark schemes.
Towards Reading Hidden Emotions: A Comparative Study of Spontaneous Micro-Expression Spotting and Recognition Methods
(2018)

Micro-expressions (MEs) are rapid, involuntary facial expressions which reveal emotions that people do not intend to show. Studying MEs is valuable as recognizing them has many important applications, particularly in forensic science and psychotherapy. However, analyzing spontaneous MEs is very challenging due to their short duration and low intensity. Automatic ME analysis includes two tasks: ME spotting and ME recognition. For ME spotting, previous studies have focused on posed rather than spontaneous videos. For ME recognition, the performance of previous studies is low. To address these challenges, we make the following contributions: (i) We propose the first method for spotting spontaneous MEs in long videos (by exploiting feature difference contrast). This method is training free and works on arbitrary unseen videos. (ii) We present an advanced ME recognition framework, which outperforms previous work by a large margin on two challenging spontaneous ME databases (SMIC and CASMEII). (iii) We propose the first automatic ME analysis system (MESR), which can spot and recognize MEs from spontaneous video data. Finally, we show our method outperforms humans in the ME recognition task by a large margin, and achieves comparable performance to humans at the very challenging task of spotting and then recognizing spontaneous MEs.
Is endoscopic polypectomy an adequate therapy for malignant colorectal adenomas? Presentation of 114 patients and review of the literature.
(2004)

PURPOSE
This study was designed to evaluate the outcome of endoscopic polypectomy of malignant polyps with and without subsequent surgery based on histologic criteria.


METHODS
Consecutive patients with invasive carcinoma in colorectal polyps endoscopically removed between 1985 and 1996 were retrospectively studied. Patients with complete resection, grading G1 or G2, and absence of vascular invasion were classified as "low risk." The other patients were classified "high risk." Available literature was reviewed by applying similar classification criteria.


RESULTS
A total of 114 patients (59 males; median age, 70 (range, 20-92) years) were included. Median polyp size was 2.5 (0.4-10) cm. After polypectomy, of 54 patients with low-risk malignant polyps, 13 died of unrelated causes after a median of 76 months, 5 had no residual tumor at surgery, and 33 were alive and well during a median follow-up of 69 (range, 9-169) months. Of 60 patients with high-risk malignant polyps, 52 had surgery (residual carcinoma 27 percent). Five of eight patients not operated had an uneventful follow-up of median 57 (range, 47-129) months. Patients in the high-risk group were significantly more likely to have an adverse outcome than those in the low-risk group (P < 0.0001). Review of 20 studies including 1,220 patients with malignant polyps revealed no patient with low-risk criteria with an adverse outcome.


CONCLUSIONS
For patients with low-risk malignant polyps, endoscopic polypectomy alone seems to be adequate. In high-risk patients, the risk of adverse outcome should be weighed against the risk of surgery.
A scoping review of scoping reviews: advancing the approach and enhancing the consistency
(2014)

BACKGROUND
The scoping review has become an increasingly popular approach for synthesizing research evidence. It is a relatively new approach for which a universal study definition or definitive procedure has not been established. The purpose of this scoping review was to provide an overview of scoping reviews in the literature.


METHODS
A scoping review was conducted using the Arksey and O'Malley framework. A search was conducted in four bibliographic databases and the gray literature to identify scoping review studies. Review selection and characterization were performed by two independent reviewers using pretested forms.


RESULTS
The search identified 344 scoping reviews published from 1999 to October 2012. The reviews varied in terms of purpose, methodology, and detail of reporting. Nearly three-quarter of reviews (74.1%) addressed a health topic. Study completion times varied from 2 weeks to 20 months, and 51% utilized a published methodological framework. Quality assessment of included studies was infrequently performed (22.38%).


CONCLUSIONS
Scoping reviews are a relatively new but increasingly common approach for mapping broad topics. Because of variability in their conduct, there is a need for their methodological standardization to ensure the utility and strength of evidence.
Brain2Object: Printing Your Mind from Brain Signals with Spatial Correlation Embedding
(2018)

Electroencephalography (EEG) signals are known to manifest differential patterns when individuals visually concentrate on different objects (e.g., a car). In this work, we present an end-to-end digital fabrication system , Brain2Object, to print the 3D object that an individual is observing by solely decoding visually-evoked EEG brain signal streams. We propose a unified training framework which combines multi-class Common Spatial Pattern and deep Convolutional Neural Networks to support the backend computation. Specially, a Dynamical Graph Representation of EEG signals is learned for accurately capturing the structured spatial correlations of EEG channels in an adaptive manner. A user friendly interface is developed as the system front end. Brain2Object presents a streamlined end-to-end workflow which can serve as a template for deeper integration of BCI technologies to assist with our routine activities. The proposed system is evaluated extensively using offline experiments and through an online demonstrator. For the former, we use a rich widely used public dataset and a limited but locally collected dataset. The experiment results show that our approach consistently outperforms a wide range of baseline and state-of-the-art approaches. The proof-of-concept corroborates the practicality of our approach and illustrates the ease with which such a system could be deployed.
Analyzing hidden populations online: topic, emotion, and social network of HIV-related users in the largest Chinese online community
(2018)

BACKGROUND
Traditional survey methods are limited in the study of hidden populations due to the hard to access properties, including lack of a sampling frame, sensitivity issue, reporting error, small sample size, etc. The rapid increase of online communities, of which members interact with others via the Internet, have generated large amounts of data, offering new opportunities for understanding hidden populations with unprecedented sample sizes and richness of information. In this study, we try to understand the multidimensional characteristics of a hidden population by analyzing the massive data generated in the online community.


METHODS
By elaborately designing crawlers, we retrieved a complete dataset from the "HIV bar," the largest bar related to HIV on the Baidu Tieba platform, for all records from January 2005 to August 2016. Through natural language processing and social network analysis, we explored the psychology, behavior and demand of online HIV population and examined the network community structure.


RESULTS
In HIV communities, the average topic similarity among members is positively correlated to network efficiency (r = 0.70, p < 0.001), indicating that the closer the social distance between members of the community, the more similar their topics. The proportion of negative users in each community is around 60%, weakly correlated with community size (r = 0.25, p = 0.002). It is found that users suspecting initial HIV infection or first in contact with high-risk behaviors tend to seek help and advice on the social networking platform, rather than immediately going to a hospital for blood tests.


CONCLUSIONS
Online communities have generated copious amounts of data offering new opportunities for understanding hidden populations with unprecedented sample sizes and richness of information. It is recommended that support through online services for HIV/AIDS consultation and diagnosis be improved to avoid privacy concerns and social discrimination in China.